forked from epics_driver_modules/motorBase
New version from Hytec
This commit is contained in:
MarkRivers
@@ -5,7 +5,11 @@ Author: Jim Chen, Hytec Electronics Ltd
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jim.chen@hytec-electronics.co.uk
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First Initial: 12/NOV/2010
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Last updated: 05/MAY/2011
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Last updated: 29/FEB/2012
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Modification note:
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22/FEB/2012 - corrected memory offset calculation errors reported by Ernest Williams SLAC.
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29/FEB/2012 - added coverage for all cases when setting up the MEMOFFS for 8002 carrier.
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This driver is based on "model 3" motor asyn driver defined by Mark Rivers.
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***********************************************************************************
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@@ -33,107 +37,188 @@ Support modules
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Hytec 8002/8003/8004 carrier card configuration
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===============================================
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This board is a 6U VME64x carrier card. It provides four single size IP slots and
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is configurable for many parameters. It supports interrupt level from 0 to 7. Any
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IP cards can be enabled/disabled interrupt. The clock can be set to either 8MHz or
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32MHz. For IPAC Memory space if required, the base address can be defined automatically
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by geographical addressing when VME64x crate is used. For other type of crates,
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the base address can be set by configuring a series of jumpers on the board or by
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passing parameter to the memory offset register in the ipacAddCarrier call.
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The IPAC Carrier Driver for this board is found in the file drvHy8002.c which
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implements two commands ipacAddHy8002 and Hy8002CarrierInfo. The ipacAddHy8002
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command is used to add a Hytec 8002/8003 board to the system. The Hy8002CarrierInfo
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reports hardware information for a specified board or all boards in the system if
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the parameter passed down is 0xFFFF. These commands are registered by the registrar
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routine Hy8002Registrar to add them to the iocsh and link the driver into a final
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IOC executable, for which it must be listed in the IOC's .dbd file thus:
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registrar(Hy8002Registrar)
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This board is a 6U VME64x carrier card. It provides four single size IP slots and
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is configurable for many parameters. It supports interrupt level from 0 to 7. Any
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IP cards can be enabled/disabled interrupt. The clock can be set to either 8MHz or
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32MHz. For IPAC Memory space if required, the base address can be defined automatically
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by geographical addressing when VME64x crate is used. For other type of crates,
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the base address can be set by configuring a series of jumpers on the board or by
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passing parameter to the memory offset register in the ipacAddCarrier call.
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The IPAC Carrier Driver for this board is found in the file drvHy8002.c which
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implements two commands ipacAddHy8002 and Hy8002CarrierInfo. The ipacAddHy8002
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command is used to add a Hytec 8002/8003 board to the system. The Hy8002CarrierInfo
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reports hardware information for a specified board or all boards in the system if
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the parameter passed down is 0xFFFF. These commands are registered by the registrar
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routine Hy8002Registrar to add them to the iocsh and link the driver into a final
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IOC executable, for which it must be listed in the IOC's .dbd file thus:
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registrar(Hy8002Registrar)
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1). Configuration Command and Parameter
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--------------------------------------
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--------------------------------------
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- int ipacAddHYy8002(const char *cardParams);
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The parameter string should comprise two (2) to six (6) parameters which are comma
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separated. The first two are mandate and have to be separated only by one comma.
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The others are key/value pairs and are optional as per the conditions of the operating
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system used. The format is defined as
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s,i,IPMEM=d,IPCLCK=d,ROAK=d,MEMOFFS=d
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where d is a decimal integer number.
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s defines the VME slot number of the carrier card. Valid number is 2 ~ 21.
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this number MUST be the same as the VME slot number where the carrier
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card is plugged in.
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i defines the interrupt level. Valid number is 0 ~ 7.
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IPMEM=d defines the maximum memory size of the IP module. The valid values are 1, 2,
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4 or 8 that represent 1MB, 2MB, 4MB or 8MB respectively. Default is 1. For
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majority Hytec ADCs, DACs such as 8401, 8414, 8417, 8402 and 8415 etc, they
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all have 2MB on board. The user can choose to use either 1MB or 2MB. None of
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the Hytec IPs has more than 2MB on board memory. Other vendors might have.
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IPCLCK=d defines the clock that its value has to be either 8 for 8MHz or 32 for
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32Mhz. Default is 8.
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ROAK=d if d =1, it defines carrier card to release the interrupt upon the
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acknowledgment. If d=0, the interrupt is released by user interrupt
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service routine. Default is 0.
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MEMOFFS=d this parameter defines the A32 memory access base address. "d" is a decimal
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number that represents the offset (the upper WORD) of the A32 base address.
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It is needed when any of the two statements below is true:
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- int ipacAddHYy8002(const char *cardParams);
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A. The operating system either VxWorks or RTEMS has defined a non-zero
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VME_A32_MSTR_LOCAL macro in the system config.h file.
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The parameter string should comprise two (2) to six (6) parameters which are comma
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separated. The first two are mandate and have to be separated only by one comma.
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The others are key/value pairs and are optional. The format is defined as
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B. The VME crate is not geographical addressing facilitated. In such a system,
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user must use this to set up base address for A32.
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For a VME crate that is geographical addressing facilitated, and the system
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defines a non-zero VME_A32_MSTR_LOCAL macro, then it is needed. But if
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VME_A32_MSTR_LOCAL macro is defined as 0, then this is optional. Setting this
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the driver will turn off the carrier card geographical addressing by setting
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a bit in the CSR.
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Note: MEMOFFS has nothing to do with A16 base address formation. A16 base address
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is determined either by geographical addressing or by carrier board on board
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jumpers settings. For VME crate that is not geographical addressing facilitated,
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both 8002 and 8004 carriers need to use on board jumpers (J6~J10) to set up
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(On 8004 carrier, moving the jumpers to "manual" positions). When the VME
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crate is geographical addressing facilitated, for 8002 carrier, A16 base
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address is determined by the crate geographical addressing facility, i.e.
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determined automatically by the slot number where the carrier is plugged in
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(the actually A16 base address is determined as vmeslotnumber << 11). But for
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8004 carrier, user can have a choice to either use the on board jumpers to
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manually set up (moving jumpers J6~J10 away from "auto" to "manual" positions)
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or let the the geographical addressing to determine it (keep all J6 ~ J10 to
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"auto" position).
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Calcualtion of MEMOFFS:
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s,i,IPMEM=d,IPCLCK=d,ROAK=d,MEMOFFS=d
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As mentioned above, MEMOFFS setting represents the upper WORD of A32 VME address. Two
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things need to be considered when doing the calculation: IPMEM setting and the the
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VME_A32_MSTR_LOCAL macro definition in the config.h file of the BSP.
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where d is a decimal integer number.
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s defines the VME slot number of the carrier card. Valid number is 2 ~ 21 if
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1MB memory space is specified or 2~15 if 2MB memory space is specified
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i defines the interrupt level. Valid number is 0 ~ 7.
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IPMEM=d defines the maximum memory size of the IP module. The value d has to be 1, 2,
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4 or 8 that represent 1MB, 2MB, 4MB or 8MB respectively. Default is 1.
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IPCLCK=d defines the clock that its value has to be either 8 for 8MHz or 32 for
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32Mhz. Default is 8.
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ROAK=d if d =1, it defines carrier card to release the interrupt upon the
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acknowledgment. If d=0, the interrupt is released by user interrupt
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service routine. Default is 0.
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MEMOFFS=d this is used to define the A32 memory space base address when geographic
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addressing is not preferred. The value of MEMOFFS defines A16 ~ A31 of
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the base address as shown below. It is derived from the VME slot number
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of the carrier card plus the VME_A32_MSTR_LOCAL defined in the config.h
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file of the BSP.
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IPMEM defines the memory size per IP card. Either 8002 or 8004 has up to 4 IPs so
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the carrier memory size is 4 times of the IP memory. The minimum size of an IP, which
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is also the default setting (if IPMEM is not defined), is 1MB. Hence the MEMOFFS
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should start from address line A22 as shown below
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D15 D14 D13 D12 D11 D10 D09 D08 D07 D06 D05 D04 D03 D02 D01 D00
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A31 A30 A29 A28 A27 A26 A25 A24 A23 A22 x x x x x x
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MEMOFFS BIT 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
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A31 A30 A29 A28 A27 A26 A25 A24 A23 A22 0 0 0 0 0 0
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X= don't care, normally 0. So the actual meaningful bit starts from A22.
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The MEMOFFS must be defined such that any two carriers in the same crate shuoldn't
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have overlapped memory area. So when IPMEM changes, the starting address line for
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calculating MEMOFFS changes as well as illustrated below:
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The reason it starts from A22 is that the minimum VME carrier memory assignment is
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4MB, i.e. each IP card has 1MB as defined by the IPMEM=1. As such, a carrier in
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slot 1 would have base address 0x00400000 plus the VME_A32_MSTR_LOCAL define.
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Of course slot 1 is occupied by processor. So for slot 2, the base address is 0x00800000
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and for slot 3, the base address is 0x00C00000 and so forth.
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IPMEM memory per IP carrier memory size starting address line
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1 1MB 4MB A22
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2 2MB 8MB A23
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4 4MB 16MB A24
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8 8MB 32MB A25
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If the VME_A32_MSTR_LOCAL is defined as 0x20000000, then for slot 3, the derived base
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address is 0x00C00000 + 0x20000000 = 0x200C00000. Hence the MEMOFFS = 8204 (decimal, i.e. 0x200C).
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For slot 5, the derived base address will be 0x01400000 + 0x20000000 = 0x21400000.
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Hence the MEMOFFS = 8512 (decimal, i.e. 0x2140). And so forth.
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all address lines below this starting address must be 0.
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- int Hy8002CarrierInfo(int carrier);
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VME_A32_MSTR_LOCAL macro is the system base and it just needs to be added on to the
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calculation.
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where 'carrier' is the registered carrier number in the system. If it is specified,
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this function prints out the specified carrier hardware information. If carrier = 0xFFFF,
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then all carriers' hardware information will be printed out.
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In principle, calculating MEMOFFS doesn't have to correspond it to VME slot number
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that the carrier is plugged in. The only thing matters is as said that any two MEMOFFS
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settings for any two carriers in the same crate should not overlap. Yet associating
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the VME slot number in the calculation just makes better logical sense and fits the
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natual of human being's thinking. Some examples are shown below.
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Let's assume IPMEM=1 (the default setting), this gives 4MB memory space for a 8002
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carrier so starting address line is A22. The remaining must be 0.
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MEMOFFS BIT 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
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A31 A30 A29 A28 A27 A26 A25 A24 A23 A22 0 0 0 0 0 0
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For a carrier in VME slot 2, we can define its A32 base address as 0x00400000,
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plus VME_A32_MSTR_LOCAL. For VME slot 3, it could be 0x00800000 plus VME_A32_MSTR_LOCAL
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and for VME slot 4, it could be 0x00C00000 plus VME_A32_MSTR_LOCAL and so forth.
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Assuming VME_A32_MSTR_LOCAL is 0x20000000, then for VME slot 4, the calculated base
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address should be 0x00C00000 + 0x20000000 = 0x20C000000. Hence the MEMOFFS = 8384
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(decimal, i.e. 0x20C0). For slot 5, the derived base address could be 0x01000000 +
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0x20000000 = 0x21000000. Hence the MEMOFFS = 8448 (decimal, i.e. 0x2100) and so forth.
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Now if IPMEM=2, this gives 8MB memory space for each 8002 carrier so the starting address
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line is A23. The remaining must be 0.
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MEMOFFS BIT 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
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A31 A30 A29 A28 A27 A26 A25 A24 A23 0 0 0 0 0 0 0
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For a carrier in VME slot 2, we could define its A32 base address as 0x00800000
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plus VME_A32_MSTR_LOCAL. For VME slot 3, the base address could be 0x01000000 plus
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VME_A32_MSTR_LOCAL and for VME slot 4, the base address could be 0x01800000 plus
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VME_A32_MSTR_LOCALand so forth.
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Assuming VME_A32_MSTR_LOCAL is still 0x20000000, then for VME slot 4, the calculated
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base address should be 0x01800000 + 0x20000000 = 0x218000000. Hence the MEMOFFS = 8576
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(decimal, i.e. 0x2180). For slot 5, the derived base address could be 0x02000000 +
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0x20000000 = 0x22000000. Hence the MEMOFFS = 8704 (decimal, i.e. 0x2200) and so forth.
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- int Hy8002CarrierInfo(int carrier);
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where 'carrier' is the registered carrier number in the system. If it is specified,
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this function prints out the specified carrier hardware information. If carrier = 0xFFFF,
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then all carriers' hardware information will be printed out.
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2). Configuration Examples
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-------------------------
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ipacAddHy8002("3,2")
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This indicates that the carrier is in slot 3 and the interrupt level is set to 2.
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IP memory uses default 1MB. Clock uses default 8MHz. RORA as default. use geographical
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addressing etc.
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ipacAddHy8002("5,4,IPMEM=1,IPCLCK=8,ROAK=1,MEMOFFS=192 ")
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Here the slot is 5, interrupt level is 4. IP memory size is 1MB, clock uses 8MHz.
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Use ROAK but not using geographic addressing. The memory offset is 192 which means its
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base address is 0x00C00000 assuming the VME_A32_MSTR_LOCAL is set to 0x00000000.
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-------------------------
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ipacAddHy8002("3,2")
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This indicates that the carrier is in slot 3 and the interrupt level is set to 2.
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IP memory uses default 1MB. Clock uses default 8MHz. RORA as default. use geographical
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addressing etc.
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ipacAddHy8002("5,4,IPMEM=1,IPCLCK=8,ROAK=1,MEMOFFS=256 ")
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Here the slot is 5, interrupt level is 4. IP memory size is 1MB, clock uses 8MHz.
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Use ROAK but not using geographic addressing. The memory offset is 256 which means its
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base address is 0x01000000 assuming the VME_A32_MSTR_LOCAL is set to 0x00000000.
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3). Interrupt Commands Supported
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-------------------------------
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The interrupt level can be set by the second parameter of the ipacAddHy8002 routine.
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Individual IP module can be set to generate interrupt or not. The commands supported
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for ipmIrqCmd are illustrated below.
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cmd Value Returned
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ipac_irqGetLevel Carrier interrupt level (0 ~ 7)
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ipac_irqEnable 0 = OK
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ipac_irqDisable 0 = OK
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ipac_irqPoll >0 if the interrupt line is active, else 0
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(other commands) S_IPAC_notImplemented
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-------------------------------
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The interrupt level can be set by the second parameter of the ipacAddHy8002 routine.
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Individual IP module can be set to generate interrupt or not. The commands supported
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for ipmIrqCmd are illustrated below.
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cmd Value Returned
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ipac_irqGetLevel Carrier interrupt level (0 ~ 7)
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ipac_irqEnable 0 = OK
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ipac_irqDisable 0 = OK
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ipac_irqPoll >0 if the interrupt line is active, else 0
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(other commands) S_IPAC_notImplemented
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Hy8601 IP Asyn Driver Usage
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============================
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@@ -422,4 +507,4 @@ The following example is for an IOC that uses RTEMS R4.9.4, MVME5500 processor b
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